[TricycleController] Removed “publish period” functionality ⏱ #abi-break #behavior-break

[Robotgir]

Per discussion in Control WG meeting from Nov. 16th 2022

[destogl]

Can you please check the documentation of the tricycle controller (if any in doc folder) and remove the parameter from there? Also, I guess that the formatting will fail. Please setup pre-commit in your local repository.

[codecov-commenter]

Codecov Report

Merging #468 (380c2dc) into master (e7f9962) will decrease coverage by 6.07%.
The diff coverage is 20.15%.

@@            Coverage Diff             @@
##           master     #468      +/-   ##
==========================================
- Coverage   35.78%   29.70%   -6.08%     
==========================================
  Files         189        7     -182     
  Lines       17570      744   -16826     
  Branches    11592      429   -11163     
==========================================
- Hits         6287      221    -6066     
+ Misses        994      163     -831     
+ Partials    10289      360    -9929     

Flag	Coverage Δ
unittests	29.70% <20.15%> (-6.08%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <ø> (ø)
...ontroller/test/test_load_diff_drive_controller.cpp	12.50% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <13.33%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	20.00% <20.00%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	32.04% <24.01%> (ø)
...ntroller/test/test_trajectory_controller_utils.hpp
..._state_broadcaster/src/joint_state_broadcaster.cpp
...ectory_controller/test/test_trajectory_actions.cpp
... and 192 more

[destogl]

Only flaky tests are breaking.

[tonynajjar]

Per discussion in Control WG meeting from Nov. 16th 2022

I can't find any comments on that topic in the minutes of that meeting, could someone quickly explain why this change is needed?

[destogl]

I can't find any comments on that topic in the minutes of that meeting, could someone quickly explain why this change is needed?

Here is the discussion on this topic on JTC: https://docs.google.com/document/d/1818AoYucI2z82awL_-8sAA5pMCV_g_wXCJiM6SQmhSQ/edit?disco=AAAAlmxhM3k

I also wrote the decision just now into the comments to make it clear (@bmagyar can you please confirm?)

The reason is that we had issues on the test with this functionality, and is repeatable across the controller. So, the idea would be to make this somehow reusable in helpers.hpp header or somewhere. But then actually people at the meeting realized that the functionality is rather confusing and not actually necessary since there is a data loss on the topic which is not what one usually needs/wants. Therefore, we decided to make this logic simpler, reduce the code and remove features which value is not clear.

[bmagyar]

#473

[tonynajjar]

Thanks for the references, I commented my follow up question in #473